Reduce maximum acceleration

2023-01-26 10:12:10 +02:00
parent 981723a3a9
commit 554d099280
1 changed files with 1 additions and 1 deletions
--- a/src/lite6_controller/launch/lite6_gazebo.launch.py
+++ b/src/lite6_controller/launch/lite6_gazebo.launch.py
@@ -302,7 +302,7 @@ def launch_setup(context, *args, **kwargs):
    # FIX acceleration limits
    for i in range(1,7):
        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['has_acceleration_limits'] = True
-        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 1.0
+        joint_limits_yaml['joint_limits']['joint{}'.format(i)]['max_acceleration'] = 0.5

    #print(joint_limits_yaml)
    #quit()